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We are building a YARP-ROS bridge to connect bidirectionally YARP ports with ROS topics. The code is currently part of [http://wiki.icub.org/wiki/UPMC_iCub_project/MACSi_Software Macsi's software], so install it then read the documentation to make it work.

'''All iCub users must read these instructions before using the iCub!'''

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* description of the '''setup in ISIR''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Setup_iCubParis01 here]. This is useful for knowing the elements of the setup: robot, devices, console, power supplies, switches, emergency button.

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* '''starting yarp''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Starting_yarp here]. This explains what to do to start yarp on the cluster - this must be done before starting the iCub.

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* '''starting iCub''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Starting_iCub here]. This explains what to do to start the icub: connect to the pc104 and launch the iCubInterface to calibrate the iCub.

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* '''using iCub (basic)''': [http://wiki.icub.org/wiki/UPMC_iCub_project/Using_iCub_(basic) here]. This explain how to use gyarpmanager or the python managers to start the basic modules of iCub - cartesian controllers, gaze controllers, wholeBodyDynamics.

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* '''using cameras''': [http://wiki.icub.org/wiki/UPMC_iCub_project/cameras here]. This explains how to launch the device modules for the cameras.

About this guide

General information

This guide is essentially a collection of several wiki pages to support the activities around the iCub in ISIR, UPMC.
It provides instructions for the robot maintenance and its configuration, for developers and users.
It is complementary to the official manual of iCub, and contains details of some configurations specific to iCubParis.

shutting down iCub: here. This explain how to shut down iCub properly.

the setup of iCubParis01

iCub diary

If you want to know what happened to the iCub during his first days in ISIR, you can read this page.
The page is no longer maintained because now too many things happen :)

Note: a software/hardware log is kept on the desk close to the power supplies. This log/diary is used to keep track of updates (software, firmware, cluster config, ..), hardware/software issues and failures. If you notice something weird on iCub, or a failure happens, write down on it and then mail Serena immediately!

Events

Francesco Nori is visiting our lab for one month (June 2013): iCub balanced on his feet and on one foot for the first time!

InnoRobo 2013. iCub videos were shown in GDR-Robotique's stand in Innorobo, Lyon, on March 2013.

AERES visit 2012. iCub was shown to the AERES committee with a live demo on November 2012.

Fete de la Science 2012. iCub performed for two days in October, during the Science festival organised by ISIR-UPMC

Fete de la Science 2011. iCub performed for two days in October, during the Science festival organised by ISIR-UPMC

CLAWAR 2011. iCub will be the focus of a workshop organized jointly with Clawar (see the website)